考虑锥体约束的旋翼振动闭环控制及试验

doi:10.7527/S1000-6893.2025.32096

Abstract

Abstract:

To address issues such as excessive 1/rev low-frequency vibration of the rotor and track split caused by blade dissimilarity， a closed-loop vibration control algorithm for rotors based on blade track constraints was developed. Firstly， a rotor aeroelastic coupling model with flexible blades was established， with parameters set to simulate the dissimilarity of blades in engineering applications， thereby generating track split phenomena and vibration imbalance characteristics. Secondly， taking the harmonic components of rotor vibration as the control objective， the collective pitch variation of individual blades as the control input， and the track difference as the constraint condition， a set of constrained optimization problems was constructed to solve for the optimal control inputs. Then， through numerical simulations， the control algorithm without track constraints was compared， and the results demonstrate that introducing track constraints not only significantly reduced the amplitude of low-frequency vibrations but also confined the track difference within a specified range， verifying the effectiveness of the constrained control algorithm. Finally， further experimental validation was conducted by establishing a rotor system test platform， adapting the control algorithm into a Simulink model， and integrating corresponding hardware devices to build a software-hardware architecture. Execution of the control algorithm under different flight conditions shows that vibrations were reduced by over 60% in all cases， with track differences constrained near the set value and achieving a maximum reduction of 73%.

Key words: rotor aeroelastic modeling, closed-loop vibration control, rotor track and balance adjustment, real-time simulation, rotor tower experiment

CLC Number:

V211.52

Chuanda WANG, Kunjian JIN, Guorui YU, Guoke HUANG, Gang WANG, Haijun PENG. Closed-loop control and experimental study of rotor vibration considering track constraints[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(2): 232096.

Figures/Tables 17

Table 1

Physical quantities and deviation range of blade dissimilarity［34］

物理量	近似偏差范围/%
挥舞刚度 $E I y$	-5~5
摆振刚度 $E I z$	-5~5
扭转刚度 GJ	-5~5
质量 $m$	-1.2~1.2
气动升力参数 $c 0$	-8~8
气动阻力参数 $d 0$	-8~8
气动俯仰力矩参数 $m 0$	-8~8

Table 1

Fig.1

Fig.2

Fig.3

Fig.4

Table 2

BO105 rotor and flight parameters［36］

参数	数值
桨叶片数	4
旋翼半径/m	4.91
桨叶弦长/m	0.27
旋翼转速/（r·min^-1）	425
前进比	0.144
升力系数	$C T / σ = 0.071$
预扭转/（°）	8
$θ 0, θ 1 s, θ 1 c$ /（°）	7.8， -2.1， -1.5

Table 2

Table 3

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Table 4

Fig.11

Fig.12

Fig.13

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模态阶次	本文结果	CAMRAD Ⅱ^［37］	相对误差/%
摆振一阶	0.727	0.743	2.15
挥舞一阶	1.134	1.107	2.44
挥舞二阶	2.783	2.687	3.57
扭转一阶	3.875	4.039	4.06
摆振二阶	4.377	4.349	0.64
挥舞三阶	4.870	4.986	2.33

Closed-loop control and experimental study of rotor vibration considering track constraints

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